altoslib: Compute tilt angle from eeprom data

[fw/altos] / altoslib / AltosConfigData.java

diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index fc1f2442ebfa04fd66074a096449eda21022fdc3..a9e863c7759edac882571fa00ab7904d190b7602 100644 (file)
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -90,6 +90,9 @@ public class AltosConfigData implements Iterable<String> {
        public int      tracker_motion;
        public int      tracker_interval;
 
+       /* HAS_GYRO */
+       public int      accel_zero_along, accel_zero_across, accel_zero_through;
+
        public static String get_string(String line, String label) throws  ParseException {
                if (line.startsWith(label)) {
                        String  quoted = line.substring(label.length()).trim();
@@ -266,6 +269,10 @@ public class AltosConfigData implements Iterable<String> {
                storage_size = -1;
                storage_erase_unit = -1;
                stored_flight = 0;
+
+               accel_zero_along = -1;
+               accel_zero_across = -1;
+               accel_zero_through = -1;
        }
 
        public void parse_line(String line) {
@@ -361,6 +368,18 @@ public class AltosConfigData implements Iterable<String> {
 
                /* Log listing replies */
                try { get_int(line, "flight"); stored_flight++; }  catch (Exception e) {}
+
+               /* HAS_GYRO */
+               try {
+                       if (line.startsWith("IMU call along")) {
+                               String[] bits = line.split("\\s+");
+                               if (bits.length >= 8) {
+                                       accel_zero_along = Integer.parseInt(bits[3]);
+                                       accel_zero_across = Integer.parseInt(bits[5]);
+                                       accel_zero_through = Integer.parseInt(bits[7]);
+                               }
+                       }
+               } catch (Exception e) {}
        }
 
        public AltosConfigData() {
@@ -637,6 +656,9 @@ public class AltosConfigData implements Iterable<String> {
                if (tracker_motion >= 0 && tracker_interval >= 0)
                        link.printf("c t %d %d\n", tracker_motion, tracker_interval);
 
+               /* HAS_GYRO */
+               /* UI doesn't support accel cal */
+
                link.printf("c w\n");
                link.flush_output();
        }